v1.13.0

This is a major release. There may be changes to the API that break or alter how your code behaves. Please read the upgrade guide.

New Features

• Added a new VR rig: FOVE Leap Motion. This rig requires a FOVE headset and Leap Motion sensor.

Command API

New Commands

Command	Description
set_vsync_count	Set the renderer's vsync count.
send_fove	Send FOVE headset data.
add_ui_cutout	Add a UI "cutout" image to the scene. This will draw a hole in a base UI element.
set_ui_element_rotation	Rotate a UI element to a new angle.
allow_fove_headset_movement	Handle whether to send the Fove Headset position or not.
allow_fove_headset_rotation	Handle whether to send the Fove Headset orientation or not.
refresh_leap_motion_rig	Refresh a Leap Motion rig in the scene. This must be sent whenever new objects are added to the scene after the rig was created.
show_leap_motion_hands	Visually show or hide Leap Motion hands.
start_fove_calibration	Start the FOVE headset's internal calibration.
tilt_fove_rig_by	Tilt (pitch) the Fove rig by an angle.
scale_object_to	Scale the object to the given value. This is only useful if you know the model scale beforehand, which is not always (1, 1, 1). This command is only useful when used with send_scales, because ObjectScales output data will return the actual scale of each object.
send_avatar_ids	Send the IDs of each avatar in the scene.
send_fast_avatars	Send the position and rotation of each avatar in the scene. This is slightly faster than SendAvatars, and FastAvatars compresses much better than Avatars. However, FastAvatars doesn't contain avatar IDs, which makes it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastAvatars.
send_fast_image_sensors	Send the and rotation of each avatar's camera in the scene. This is slightly faster than SendImageSensors, and FastImageSensors compresses much better than ImageSensors. However, FastImageSensors is missing a lot of information contained in ImageSensors, including avatar IDs, making it harder to use. See: send_avatar_ids which serializes the avatar IDs in the same order as the data in FastImageSensors.
send_fast_transforms	Send FastTransforms output data. This is slightly faster than SendTransforms, and FastTransforms compresses much better than Transforms. However, FastTransforms excludes some data (see output data documentation) and it is also harder to use. See: send_object_ids which serializes the object IDs in the same order as the data in FastTransforms.
send_object_ids	Send the IDs of all Rigidbody objects (models and composite sub-objects) in the scene. The object IDs are sorted.
send_post_process	Send post-processing values.
send_scene	Send streamed scene metadata.
send_models	Send name and URL of each model in the scene.
send_scales	Send Scales data of objects in the scene. The scales are the worldspace scales rather than a factor. Send scale_object_to, not scale_object

Modified Commands

Command	Modification
create_vr_rig	Added new rig: fove_leap_motion

Output Data

New Output Data

Output Data	Description
Fove	FOVE headset and eye tracking data.
Models	Model names and URLs per object.
ObjectScales	The spatial scale of each object in the scene.
PostProcess	Post-processing values.
Scene	The scene name and URL of the asset bundle.
SystemInfo	System and hardware information.
AvatarIds	The IDs of each avatar in the scene.
FastAvatars	Fast, fixed-length avatar transform data. Use this in conjunction with FastAvatarIds: the order of the IDs matches the order of this data.
FastImageSensors	Fast, fixed-length avatar image sensor transform data. Use this in conjunction with FastAvatarIds: the order of the IDs matches the order of this data.
FastTransforms	None
ObjectIds	The IDs of all Rigidbody objects (models and composite sub-objects) in the scene.

Modified Output Data

Output Data	Modification
Mouse	This is now fixed-length data, meaning that it compresses better and is slightly faster.
Version	This is now fixed-length data, meaning that it compresses better and is slightly faster.

tdw module

• Added: FoveLeapMotion add-on.
• Added data classes and enums used by FoveLeapMotion:
  • CalibrationMethod
  • CalibrationSphere
  • CalibrationState
  • EyeByEyeCalibration
  • EyeTorsionCalibration
  • EyeState
  • Eye
• Added: Autohand Abstract base class for all VR rigs that use Autohand.
• Added: LeapMotion Abstract base class for all VR rigs that use Leap Motion.
• Modified the UI add-on:
  • The image parameter in add_image() can now be a PIL image.
  • Added: add_cutout() Add a UI image that cuts a transparent hole in another UI image.
  • Added: set_rotation(ui_id, angle)

Model Library

• Added to models_core.json: baseball,

Example Controllers

• Replaced ui/mask.py with ui/cutout.py
• Added: vr/fove_eye_tracking.py
• Added: vr/fove_minimal.py

Documentation

New Documentation

Document	Modification
lessons/vr/fove_leap_motion.md	FOVE Leap Motion documentation.
python/add_ons/autohand.md	API documentation for Autohand.
python/add_ons/fove_leap_motion.md	API documentation for FoveLeapMotion.
python/add_ons/leap_motion.md	API documentation for LeapMotion.
python/vr_data/fove/calibration_method.md python/vr_data/fove/calibration_sphere.md python/vr_data/fove/calibration_state.md python/vr_data/fove/eye_by_eye_calibration.md python/vr_data/fove/eye_torsion_calibration.md python/vr_data/fove/eye_state.md python/vr_data/fove/eye.md	API documentation for data classes used by the FoveLeapMotion add-on.
lessons/core_concepts/output_data.md	Added a section for "fast" output data.

Modified Documentation

Document	Modification
lessons/ui/ui.md	Replaced the UI mask section with a UI cutout section. Moved transform-related sections into a single section.

v1.12.27

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command	Description
set_ui_element_depth	Set the depth of a UI element.

tdw module

• Added: ui.set_depth(id, depth).

Model Library

• Added affordance points to: 4ft_wood_shelving, appliance-ge-profile-microwave3, arflex_strips_sofa, b03_grandpiano2014, b04_backpack, cabinet_24_door_drawer_wood_beach_honey, dining_room_table, dishwasher_4, emeco_navy_chair, hp_printer, kettle_2, sm_tv, b04_bike, huffy_nel_lusso_womens_cruiser_bike_2011vray

Documentation

Modified Documentation

Document	Modification
lessons/ui/ui.md	Added a section describing how to set a UI element's depth.

v1.12.26

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

Modified Commands

Command	Description
replicant_reach_for_position replicant_reach_for_relative_position wheelchair_replicant_reach_for_position	Added parameter offhand_follows.

tdw module

• Fixed: replicant.reach_for(target, offhand_follows=True, absolute=False) doesn't move the offhand to the correct position. The code responsbile for calculating the offhand target has been moved from tdw into the build.
• Likewise for wheelchair_replicant.reach_for(target, offhand_follows=True, absolute=False)

v1.12.25

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command	Description
set_ui_element_position	Set the position of a UI element.

tdw module

• Added: ui.set_position(id, position).

Example Controllers

• Added: ui/mask.py

Documentation

Modified Documentation

Document	Modification
lessons/ui/ui.md	Added a section describing how to create an image "mask". Added a section describing how to move an image.

v1.12.24

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

Modified Commands

Command	Modification
teleport_object teleport_object_by	Added optional parameter use_centroid.

v1.12.23

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command	Description
set_ui_color	Set the color of a UI image or text.

Output Data

Modified Output Data

Output Data

Modification

Occlusion

Removed: get_sensor_name() get_occluded() returns an integer between 0 and 255 instead of 0 and 1. The number now describes the fraction of the image's pixels are occupied by objects, as opposed to background meshes. Added: get_unoccluded(). An integer between 0 and 255 describing what fraction of the image's pixels are occupied by objects if background meshes aren't rendered. To get the value that get_occluded() would have returned in prior versions of TDW: 1 - (occ.get_unoccluded() - occ.get_occluded()) / 255

Build

• Fixed: Occlusion is highly inaccurate, especially in scenes other than the ProcGen Room.
• Fixed: The command apply_force doesn't work as expected in most scenes.

Documentation

Modified Documentation

Document	Description
lessons/visual_perception/occlusion.md	Updated document to describe the new Occlusion data.
api/output_data.md	Improved the documentation for all positions and rotations. Improved the documentation of LocalTransforms.get_forward()

v1.12.22

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Build

• Fixed: set_wireframe_material can't change the material's color.

v1.12.21

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command	Description
set_wireframe_material	Set the visual material of an object or one of its sub-objects to wireframe.

tdw module

• Added: TDWUtils.set_wireframe_material(substructure, object_id, color, thickness).

Example Controllers

• Added: scene_setup_low_level/set_wireframe_material.py

v1.12.20

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Command API

New Commands

Command	Description
set_robot_color	Set the visual color of a robot in the scene.

v1.12.19

This is an incremental update to v1.12. If you are already using a v1.12 release, you can safely upgrade without having to change any of your code.

Build

• Fixed: send_albedo_colors doesn't work.

tdw module

• Added: type_aliases.PATH, a type alias for Union[str, Path]. Replaced Union[str, Path] with PATH through TDW's codebase.
• Added to TDWUtils: tuple_to_vector3(tup), tuple_to_vector4(tup) and tuple_to_color(tup)